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fix 6dof sensors for fixed joints (recent bug left fields uninitialized in getJointInfo)

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add premake build support for Test_PhysicsClientUDP
This commit is contained in:
Erwin Coumans
2017-02-20 13:18:33 -08:00
parent c10dfe6a80
commit 55361e262e
4 changed files with 68 additions and 7 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -558,12 +558,18 @@ int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
{ {
state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex]; state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex]; state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
for (int ii(0); ii < 6; ++ii) { } else
{
state->m_jointPosition=0;
state->m_jointVelocity=0;
}
for (int ii(0); ii < 6; ++ii)
{
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii]; state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
} }
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex]; state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1; return 1;
}
} }
} }
return 0; return 0;

4
examples/SharedMemory/udp/main.cpp
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@@ -133,9 +133,11 @@ int main(int argc, char *argv[])
{ {
if (gVerboseNetworkMessagesServer) if (gVerboseNetworkMessagesServer)
{ {
int dataLen = (int)event.packet->dataLength;
printf("A packet of length %u containing '%s' was " printf("A packet of length %u containing '%s' was "
"received from %s on channel %u.\n", "received from %s on channel %u.\n",
event.packet->dataLength, dataLen,
event.packet->data, event.packet->data,
event.peer->data, event.peer->data,
event.channelID); event.channelID);

52
test/SharedMemory/premake4.lua
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@@ -29,6 +29,58 @@ project ("Test_SharedMemoryPhysicsClient")
"../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/b3ResourcePath.h",
} }
project ("Test_PhysicsClientUDP")
language "C++"
kind "ConsoleApp"
includedirs {
"../../src",
"../../examples",
"../../examples/ThirdPartyLibs/enet/include"
}
links {
"enet",
"BulletFileLoader",
"Bullet3Common",
"LinearMath"
}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
defines {"PHYSICS_UDP"}
files {
"test.c",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
"../../examples/SharedMemory/PhysicsClientUDP.h",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/Utils/b3Clock.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}
project ("Test_PhysicsServerLoopBack") project ("Test_PhysicsServerLoopBack")
language "C++" language "C++"

1
test/SharedMemory/test.c
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@@ -256,6 +256,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
b3RequestCameraImageSetPixelResolution(command, width, height); b3RequestCameraImageSetPixelResolution(command, width, height);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
} }
if (b3CanSubmitCommand(sm)) if (b3CanSubmitCommand(sm))
{ {
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex)); b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));